Servo Gain Adjustment for Track Followability and Stability
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Solution Overview
Problem
Existing servo control devices fail to fully adjust speed feed-forward gain and feedback gain, leading to suboptimal motor output control and followability to target commands, as they do not balance these parameters effectively.
Innovation Solution
A method to calculate an upper limit for the feedback gain and adjust both the feedback gain and speed feed-forward gain within defined limits, ensuring optimal servo control characteristics by setting the feedback gain initially low and increasing it with a high speed feed-forward gain, thereby enhancing track followability and stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the speed feed-forward gain is increased to improve track followability, then the motor output follows the target command better, but the system may become unstable
Solution Approach 1:
The patent applies parameter changes by dynamically adjusting both the speed feed-forward gain and feedback gain as a coordinated pair. The controller calculates an upper limit for the feedback gain based on current system conditions, then sets the speed feed-forward gain相对较高 while ensuring the feedback gain remains within the calculated upper limit. This coordinated parameter adjustment allows the system to achieve high track followability while preventing instability through the constraining feedback gain.
2Measurement precision
If the feedback gain is increased to improve servo control precision, then the control accuracy improves, but the system responsiveness and track followability deteriorate
Solution Approach 1:
The patent applies dynamics by making the feedback gain adjustable rather than fixed. The controller dynamically calculates an upper limit for the feedback gain based on current system conditions and operational requirements. This allows the feedback gain to be optimized in real-time, enabling the system to achieve both high control accuracy and fast response speed by adjusting the feedback gain within its calculated upper limit while maintaining a相对较高 speed feed-forward gain.
3Ease of operation
If automatic adjustment of speed feed-forward gain is implemented, then user effort is reduced, but the feedback gain adjustment is neglected leading to suboptimal performance
Solution Approach 1:
The patent applies self-service by implementing automatic adjustment for both the speed feed-forward gain and feedback gain. The controller autonomously calculates the upper limit of the feedback gain and coordinates the adjustment of both parameters without requiring manual intervention. This comprehensive automatic adjustment system ensures that neither parameter is neglected, allowing the system to achieve optimal servo control performance while minimizing user effort.
Data Source
AI summary
A feedback gain and a speed feed-forward gain are adjusted. A method for adjusting control parameters for a control device that performs servo control on a control target includes calculating an upper limit of a feedback gain of a feedback signal within a range in which a predetermined index for the feedback gain satisfies a predetermined target value with a speed feed-forward gain for speed feed-forward control set at a predetermined reference value, setting the feedback gain at an adjustment initial value lower than the upper limit, setting the speed feed-forward gain at the highest value within a settable range, and increasing the feedback gain from the adjustment initial value within a range in which the feedback gain does not exceed the upper limit with at least the speed feed-forward gain set at a predetermined increased value.